Position confirmation method, cooking machine and computer readable storage medium

Abstract

The embodiment of the invention discloses a position confirmation method, an automatic cooker and a computer readable storage medium, and the method comprises the steps: controlling a moving assembly to move from a starting position to an ending position when a first instruction is received, and determining a first electric signal generated by the moving assembly in a moving process; wherein the stopping position is the position where the stirred assembly and the stirring assembly are in the attached state, and the cooking machine comprises a moving assembly and the stirring assembly arranged on the moving assembly; based on the first electric signal, determining whether the mobile assembly moves to a termination position, and determining a first operation parameter of the mobile assembly moving from the initial position to the termination position; when a second instruction is received, determining a second operation parameter of the moving assembly moving from the starting position to the ending position; based on the first operating parameter and the second operating parameter, it is determined whether the mobile component moves to an end position.

Description

Technical Field

[0001] The present application relates to the field of cooking devices, and in particular, to a position confirmation method, a cooking machine, and a computer-readable storage medium. Background Art

[0002] During the process of stir-frying ingredients, the cooking machine needs to ensure that the stirring mechanism and the pot are in a fitting state, so as to ensure that under the condition of heating with the same power, the stirring mechanism can drive the ingredients to be heated evenly and ensure the consistency of the finished product. Therefore, the fitting state of the stirring mechanism and the pot is the key to ensuring the consistency of the ingredients; in the related art, a limited spacer is usually set in the stirring module, and the fitting state of the stirring mechanism and the pot can be adjusted by adjusting the spacer. After that, as the cooking machine is used for a long time, the limit can be adjusted by manually adding or reducing the gasket to ensure that the stirring mechanism and the pot are in a fitting state; however, adjusting the fitting of the stirring mechanism and the pot by manually adjusting the spacer not only wastes labor costs, but also has low accuracy through manual adjustment. Summary of the Invention

[0003] To solve the above technical problems, the embodiments of the present application are expected to provide a position confirmation method, a cooking machine, and a computer-readable storage medium, which can solve the problems that adjusting the fitting of the stirring mechanism and the pot by manually adjusting the spacer in the related art not only wastes labor costs, but also has low accuracy through manual adjustment.

[0004] The technical solution of the present application is implemented as follows:

[0005] A position confirmation method for a cooking machine, the cooking machine including a moving component and a stirring component arranged on the moving component, the method comprising:

[0006] When receiving a first instruction, controlling the moving component to move from a starting position to an ending position, and determining a first electrical signal generated by the moving component during the movement; wherein, the ending position is the position where the component to be stirred is in a fitting state with the stirring component;

[0007] Based on the first electrical signal, determining whether the moving component moves to the ending position, and determining a first operating parameter of the moving component moving from the starting position to the ending position;

[0008] When receiving a second instruction, determining a second operating parameter of the moving component moving from the starting position to the ending position;

[0009] Based on the first operating parameter and the second operating parameter, determining whether the moving component moves to the ending position.

[0010] Before the control of the moving component to move from the starting position to the ending position in the above solution, it further includes:

[0011] Determine whether the moving component is at the starting position;

[0012] When the moving component is not at the starting position, control the moving component to move to the starting position.

[0013] Before the control of the moving component to move to the starting position in the above solution, it further includes:

[0014] During the process of the moving component moving towards the starting position, collect the level signal corresponding to the moving component;

[0015] When the level signal meets the level threshold, determine that the current position where the moving component is located is the starting position;

[0016] Control the moving component to stop moving at the starting position.

[0017] In the above solution, the determination of whether the moving component moves to the ending position based on the first electrical signal includes:

[0018] When the target current is greater than or equal to the current threshold, determine that the moving component moves to the ending position; the first electrical signal includes the target current;

[0019] When the target current is less than the current threshold, determine that the moving component does not move to the ending position;

[0020] Correspondingly, after determining that the moving component moves to the ending position, it further includes:

[0021] Control the moving component to stop moving.

[0022] In the above solution, after determining that the moving component does not move to the ending position, it further includes:

[0023] Control the moving component to continue moving towards the ending position until the current generated during the movement of the moving component is greater than or equal to the current threshold, and then determine that the moving component moves to the ending position.

[0024] In the above solution, the determination of whether the moving component moves to the ending position based on the first operating parameter and the second operating parameter includes:

[0025] Compare the first operating parameter and the second operating parameter to obtain a comparison result;

[0026] When the comparison result indicates that the first operating parameter and the second operating parameter match, it is determined that the moving component moves to the termination position.

[0027] In the above solution, the position confirmation method further includes:

[0028] When receiving a third instruction, determine a third operating parameter of the moving component moving from the starting position to the termination position;

[0029] Based on the first operating parameter and the third operating parameter, determine whether the moving component moves to the termination position.

[0030] In the above solution, the position confirmation method further includes:

[0031] When receiving a calibration instruction, obtain a second electrical signal generated by the moving component moving from the starting position to the termination position, and determine a fourth operating parameter of the moving component moving from the starting position to the termination position;

[0032] When receiving the fourth instruction, determine a fifth operating parameter of the moving component moving from the starting position to the termination position;

[0033] Based on the fourth operating parameter and the fifth operating parameter, determine whether the moving component moves to the termination position.

[0034] A cooking machine, the cooking machine includes: a control unit, a driving unit, a current sampling unit, and a moving component, wherein:

[0035] The control unit is configured to output first control information to the driving unit and output second control information to the current sampling unit;

[0036] The driving unit is configured to receive the first control information and control the moving component to move from a starting position to a termination position based on the first control information;

[0037] The current sampling unit is configured to receive the second control information, and based on the second control information, collect a first electrical signal generated during the process of the moving component moving from the starting position to the termination position, and output the first electrical signal to the control unit;

[0038] The control unit is further configured to determine whether the moving component moves to the termination position based on a target threshold and the received first electrical signal, and collect a first operating parameter of the moving component moving from the starting position to the termination position;

[0039] The control unit is further configured to, when the driving unit controls the moving component to move from the starting position to the ending position based on the third control information, collect a second operating parameter of the moving component moving from the starting position to the ending position, and determine whether the moving component has moved to the ending position based on the first operating parameter and the second operating parameter.

[0040] The above-mentioned cooking machine further includes: a position detection unit, where:

[0041] The position detection unit is configured to output a level signal to the control unit when detecting a magnetic component in the moving component; the level signal is used to indicate whether the moving component has moved to the starting position;

[0042] The control unit is configured to output the first control information when receiving the level signal.

[0043] In the above-mentioned cooking machine, the control unit is further configured to receive a target current output by the current sampling unit; the first electrical signal includes the target current;

[0044] The control unit is further configured to determine whether the moving component has moved to the ending position based on a current threshold and the target current.

[0045] The above-mentioned cooking machine further includes: a current conversion unit, where:

[0046] The current sampling unit is further configured to output a target current to the current conversion unit; the first electrical signal includes the target current;

[0047] The current conversion unit is configured to receive the target current output by the current sampling unit, and output a target voltage corresponding to the target current to the control unit based on a current sampling resistor and the target current.

[0048] In the above-mentioned cooking machine, the control unit is further configured to receive the target voltage output by the current conversion unit;

[0049] The control unit is further configured to determine whether the moving component has moved to the ending position based on a voltage threshold and the target voltage.

[0050] A cooking machine, the cooking machine includes: a processor, a memory, and a communication bus;

[0051] The communication bus is used to implement a communication connection between the processor and the memory;

[0052] The processor is configured to execute a position confirmation program stored in the memory to implement the steps of the above-mentioned position confirmation method.

[0053] A computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the position confirmation method as described above.

[0054] For the position confirmation method, cooking machine, and computer-readable storage medium provided by the embodiments of the present application, first, when a first instruction is received, the moving component is controlled to move from the starting position to the ending position, and a first electrical signal generated during the movement of the moving component is determined. The ending position is the position where the stirring component and the stirring component disposed in the moving component are in a fitting state. Then, based on the first electrical signal, it is determined whether the moving component has moved to the ending position, and a first operating parameter of the moving component moving from the starting position to the ending position is determined. When a second instruction is received again, a second operating parameter of the moving component moving from the starting position to the ending position is determined. After that, based on the first operating parameter and the second operating parameter, it is determined whether the moving component has moved to the ending position. In this way, after receiving the first instruction, first, based on the first electrical signal, the position when the stirring component and the stirring component disposed in the moving component are in a fitting state is determined, and then the first operating parameter corresponding to the fitting state of the stirring component and the stirring component is determined. Since the first operating parameter is the parameter corresponding to the fitting state of the stirring component and the stirring component that has been determined, then when the second instruction is received later, directly based on the first operating parameter corresponding to the fitting state of the stirring component and the stirring component that has been determined and the second operating parameter, a comparison is made to determine whether the moving component moves to the position where it fits with the stirring component when it falls again. In this way, the operation of manually adjusting the fitting of the stirring component to the pot can be cancelled, and it is no longer necessary to manually adjust the fitting of the stirring component and the stirred component, thereby not only reducing the labor cost but also improving the accuracy of adjusting the fitting of the stirring component and the stirred component. Description of the Drawings

[0055] Figure 1 A schematic diagram of the fitting of a stirring mechanism and a pot in the prior art;

[0056] Figure 2 Another schematic diagram of the fitting of a stirring mechanism and a pot in the prior art;

[0057] Figure 3 A schematic diagram of a position confirmation method provided by the embodiments of the present application;

[0058] FIG. 4(a) is a schematic diagram of a moving component in a position confirmation method provided by the embodiments of the present application;

[0059] FIG. 4(b) is a schematic diagram of another moving component in a position confirmation method provided by the embodiments of the present application;

[0060] Figure 5 Schematic diagram of another position confirmation method provided by an embodiment of the present application;

[0061] Figure 6 Schematic diagram of the calibration of the moving component in a position confirmation method provided by an embodiment of the present application;

[0062] Figure 7 Schematic diagram of the determination of the position when the moving component falls again in a position confirmation method provided by an embodiment of the present application;

[0063] Figure 8 Schematic diagram of a cooking machine provided by an embodiment of the present application;

[0064] Figure 9 Schematic diagram of the driving unit in a position confirmation method provided by an embodiment of the present application;

[0065] Figure 10 Schematic diagram of the position detection unit in a position confirmation method provided by an embodiment of the present application;

[0066] Figure 11 Schematic diagram of the equivalent current waveform in a position confirmation method provided by an embodiment of the present application;

[0067] Figure 12 Schematic diagram of another cooking machine provided by an embodiment of the present application;

[0068] Figure 13 Schematic diagram of the current conversion unit in a position confirmation method provided by an embodiment of the present application;

[0069] Figure 14 Schematic diagram of the structure of another cooking machine provided by an embodiment of the present application. Detailed implementation manners

[0070] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application.

[0071] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0072] It should be noted that during the process of stir-frying food materials in a cooking machine, it is necessary to make the stirring mechanism fit the pot. However, during the long-term use of the cooking machine, due to various situations, the fitting state between the stirring mechanism and the bottom of the pot will change, resulting in the situation of burning the pot; therefore, ensuring the fitting state between the stirring mechanism and the bottom of the pot for a long time is the key to ensuring the consistency of the food products.

[0073] In the existing related technologies, such as Figure 1The shown stirring device 1 has a first sliding rod 11, and there is a first elastic member 14 between the first sliding rod 11 and the second sliding rod 131, so that the stirring mechanism 13 is attached to the pot under the action of the first elastic member 14, that is, the stirring mechanism is pressed against the pot through the action of the elastic body, realizing the long-term attachment of the stirring mechanism to the bottom of the pot. As Figure 2 As shown, a limiting cushion block is provided in the stirring module. Initially, the attachment of the stirring mechanism to the pot can be adjusted by adjusting the cushion block. However, with the long-term use of the cooking machine, it is necessary to manually add / remove gaskets to adjust the limit to ensure the attachment of the stirring mechanism to the pot. However, there are the following problems in the related art: (1) To maintain the attachment degree between the stirring mechanism and the pot, professional personnel are required to perform regular maintenance; (2) If the retractable scheme is used for the stirring mechanism, not only the structural cost is high but also the assembly is difficult; (3) Using the cushion block to adjust the attachment of the pot not only has low accuracy but is also affected by the size of the cushion block.

[0074] Based on this, an embodiment of the present application provides a position confirmation method, which can be applied to a cooking machine. The cooking machine includes a moving component and a stirring component arranged on the moving component. Refer to Figure 3 As shown, the method includes the following steps:

[0075] Step 101, when receiving a first instruction, control the moving component to move from the starting position to the ending position, and determine the first electrical signal generated by the moving component during the movement.

[0076] Among them, the ending position is the position where the component to be stirred and the stirring component are in a fitting state.

[0077] In the embodiment of the present application, as shown in FIGS. 4(a) and 4(b), the cooking machine includes a moving component and a stirring component (such as a stirring arm) provided on the moving component. As the moving component moves, it will drive the movement of the stirring component, that is, the stirring component will move along with the movement of the moving component; the first instruction may refer to an instruction for initializing the cooking machine, and in the case where the component being stirred is a pot, specifically, it may be a calibration command for the stirring component to adhere to the pot; the moving component may refer to a component that can move, and specifically, it may be a lifting motor as shown in FIGS. 4(a) and 4(b), and the lifting motor may be a brushed motor or a brushless motor; the starting position is the initial position during each movement of the moving component. That is to say, the moving component needs to be located at the starting position shown in FIG. 4(a) before each movement; the ending position is the position where the moving component stops moving, that is, the position where the stirring component and the component being stirred are in contact. As shown in FIG. 4(b), the moving component is at the ending position; the first electrical signal may be an electrical signal generated by the cooking machine during the calibration process of the cooking machine, and the first electrical signal may include a current signal and a voltage signal. For example, the current signal may refer to the current generated by the stirring component during the movement in the process of initializing the cooking machine, and it is the current filtered by the current detection circuit, and the voltage signal may be obtained by converting the current signal.

[0078] In the embodiment of the present application, the user can send a first instruction to the cooking machine. When the cooking machine receives the first instruction, it first determines whether the position of the moving component is at the starting position. When the moving component is currently at the starting position, it directly controls the moving component to move from the starting position to the ending position (i.e., to fall); when the moving component is currently not at the starting position, it first controls the moving component to move to the starting position, and then moves from the starting position to the ending position. In this way, it can be ensured that the starting position of each fall of the moving component is the same; it should be noted that while controlling the moving component to move from the starting position to the ending position, it is also necessary to collect the first electrical signal generated by the moving component during the movement.

[0079] Step 102: Based on the first electrical signal, determine whether the moving component has moved to the ending position, and determine the first operating parameter of the moving component moving from the starting position to the ending position.

[0080] In the embodiment of the present application, the moving component generates an electrical signal during the movement. Therefore, the electrical signal generated during the movement can be analyzed, and based on the analysis result, it can be determined whether the moving component has moved to the ending position. And when the moving component moves to the ending position, it can be indicated that the stirring component and the component being stirred are in a fitting state.

[0081] In an embodiment of the present application, when controlling the movement of the moving component from the starting position to the ending position, it is necessary to collect the first electrical signal generated by the moving component during the movement. Moreover, while collecting the first electrical signal, it is also necessary to collect the first operating parameter of the moving component moving from the starting position to the ending position. It is possible to determine the corresponding first moment (denoted as T0) when the moving component is at the starting position, and determine the corresponding second moment (denoted as T1) when the moving component is at the ending position. Then, the first operating parameter can also refer to the operating parameter of the moving component collected from the moment T0 to the moment T1, and specifically, it can be the operating time of the moving component from the moment T0 to the moment T1, or it can be the pulse signal (i.e., the feedback signal) fed back by the encoder from the moment T0 to the moment T1. It is possible to start collecting the first operating parameter when the moving component starts to move from the starting position and stop collecting the first operating parameter when the moving component moves to the ending position. Thus, the first operating parameter of the moving component moving from the starting position to the ending position can be obtained, and the first operating parameter can be stored in the storage unit in the cooking machine. Specifically, the first operating parameter can be stored at the cooking machine end, or it can be stored at the user end. Thus, the calibration of the stirring component against the pan is completed. When the moving component falls again, this data (i.e., the first operating parameter) can be used to compare with the operating parameter collected during the second fall, so as to determine whether the moving component moves to the ending position during the second fall. In this way, through the use of software methods for automatic calibration, manual adjustment is not required, thereby reducing the maintenance cost. It should be noted that after the moving component moves to the ending position, the content recorded in the storage unit needs to be cleared first (i.e., the previously recorded operating parameter is cleared), and then the currently recorded first operating parameter is stored.

[0082] It should be noted that an encoder is a sensor used to measure mechanical rotation or displacement. It can measure information such as the displacement position or speed of a mechanical component during rotation or linear motion and convert it into a series of electrical signals.

[0083] Step 103: When receiving the second instruction, determine the second operating parameter of the moving component moving from the starting position to the ending position.

[0084] In an embodiment of the present application, the second instruction may refer to an instruction to command the moving component to drop again after initializing the cooking machine; in the scenario of cooking, the first instruction may be an instruction to first adjust the pot and the stirring arm to be in a fitting state, and the second instruction may refer to an instruction for the moving component to drop during the formal cooking process; the second operating parameter may refer to the parameter corresponding to the moving component dropping from the starting position to the ending position again after initialization (such as the operating parameter corresponding to the dropping process of the moving component during the formal cooking process); when the second instruction is received, the moving component drops from the starting position to the ending position again, and the second operating parameter of the moving component moving from the starting position to the ending position is recorded. It should be noted that the second operating parameter may specifically be the running time of the moving component from time T0 to time T1, or the pulse signal (i.e., the feedback signal) fed back by the encoder from time T0 to time T1.

[0085] Step 104: Determine whether the moving component has moved to the ending position based on the first operating parameter and the second operating parameter.

[0086] In an embodiment of the present application, the first operating parameter and the second operating parameter can be compared, that is, it is determined whether the first operating parameter recorded during initialization is reached when the moving component drops again, so as to determine whether the moving component has moved to the ending position based on the comparison result. When the moving component moves to the ending position, it means that the stirring component connected to the moving component is in a fitting state with the component to be stirred. In this way, the stirring component can fully stir the ingredients in the component to be stirred, making the ingredients not easy to stick to the pan and heated evenly, thereby ensuring the consistency of the product. Moreover, non-professionals can also use this method to make the stirring component fit with the component to be stirred.

[0087] The position confirmation method provided by the embodiment of the present application, after receiving the first instruction, first determines the position when the component to be stirred is in a fitting state with the stirring component disposed in the moving component based on the first electrical signal, and then determines the first operating parameter corresponding to the state where the component to be stirred is in a fitting state with the stirring component. Since the first operating parameter is the parameter corresponding to the fitting state of the component to be stirred and the stirring component that has been determined, then after receiving the second instruction, directly compare the first operating parameter corresponding to the fitting state of the component to be stirred and the stirring component that has been determined with the second operating parameter to determine whether the moving component moves to the position fitting with the component to be stirred when it drops again. In this way, the operation of manually adjusting the stirring component to fit the pan can be cancelled, and there is no need to manually adjust the fitting of the stirring component and the component to be stirred, thereby not only reducing the labor cost, but also improving the accuracy of adjusting the fitting of the stirring component and the component to be stirred.

[0088] Based on the foregoing embodiments, the embodiment of the present application provides another position confirmation method, refer to Figure 5As shown, the method may include the following steps:

[0089] Step 201, the cooking machine determines whether the moving component is at the starting position.

[0090] Step 202, when the moving component is not at the starting position, the cooking machine controls the moving component to move to the starting position.

[0091] In the embodiment of the present application, it is possible to determine whether the moving component is at the starting position based on the level signal generated during the movement of the moving component; before controlling the moving component to move from the starting position to the termination position, it is necessary to first control the moving component to move from other positions to the starting position, and then let it fall from the starting position, so that the falling position can be the same each time, thereby ensuring that it is possible to directly determine whether the moving component reaches the termination position through the operating parameters subsequently.

[0092] It should be noted that step 202 can be implemented in the following manner:

[0093] Step 202A1, during the movement of the moving component towards the starting position, the cooking machine collects the level signal corresponding to the moving component.

[0094] Step 202A2, when the level signal meets the level threshold, the cooking machine determines that the current position where the moving component is located is the starting position.

[0095] Step 202A3, the cooking machine controls the moving component to stop moving at the starting position.

[0096] In the embodiment of the present application, the level threshold can be determined based on historical experimental data, and the level threshold can be set to 0; when controlling the moving component to move from the starting position to the termination position, it is necessary to first determine whether the moving component is at the starting position. Specifically, it is possible to determine whether the moving component is at the starting position by judging the level signal corresponding to the moving component. Specifically, when the level signal is not 0, it indicates that the moving component is currently at the starting position, and the moving component can be directly controlled to move from the starting position to the termination position; when the level signal is 0, it indicates that the moving component is not at the starting position. It is possible to first control the moving component to move from the current position to the starting position, and during the process of controlling the moving component to move from the current position to the starting position, the level signal corresponding to the moving component can be continuously collected, and when the level signal at a certain position changes from a low level to a high level or from a high level to a low level, it is determined that the moving component has moved to the starting position, and at this time, controlling the moving component to stop moving is sufficient.

[0097] In a feasible implementation manner, the induction sensor can be a Hall component, or other sensors such as a microswitch.

[0098] Step 203: When receiving the first instruction, the cooking machine controls the moving component to move from the starting position to the ending position, and determines the first electrical signal generated by the moving component during the movement.

[0099] Wherein, the ending position is the position where the stirred component and the stirring component are in a fitting state.

[0100] It should be noted that after step 203, step 204 can be executed, or steps 205-206 can be executed.

[0101] Step 204: When the target current is greater than or equal to the current threshold, the cooking machine determines that the moving component has moved to the ending position.

[0102] Wherein, the first electrical signal includes the target current.

[0103] In the embodiment of the present application, the current threshold can be determined based on historical experimental data; the target current and the current threshold can be compared in size, and when the target current is greater than or equal to the current threshold, it indicates that the moving component has moved to the ending position. At this time, it also indicates that the stirring component connected to the moving component and the stirred component are in a fitting state.

[0104] Step 205: When the target current is less than the current threshold, the cooking machine determines that the moving component has not moved to the ending position.

[0105] Step 206: The cooking machine controls the moving component to continue moving towards the ending position until the current generated by the moving component during the movement is greater than or equal to the current threshold, and then determines that the moving component has moved to the ending position.

[0106] In the embodiment of the present application, when the target current is less than the current threshold, it indicates that the current position of the moving component has not reached the ending position. Then, the moving component can be controlled to continue moving towards the ending position until it is detected that the current corresponding to the moving component at a certain position is greater than or equal to the current threshold, which indicates that the moving component has reached the ending position. At this time, it also indicates that the stirring component connected to the moving component and the stirred component are in a fitting state.

[0107] It should be noted that after both step 204 and step 206, step 207 can be executed.

[0108] Step 207: The cooking machine controls the moving component to stop moving.

[0109] In the embodiment of the present application, after the moving component moves to the ending position, the moving component is controlled to stop moving. At this time, the stirring component connected to the moving component can cooperate with the stirred component to work (such as officially entering the cooking process).

[0110] Step 208: The cooking machine determines the first operating parameter for the moving component to move from the starting position to the ending position.

[0111] Step 209: When receiving the second instruction, the cooking machine determines the second operating parameter for the moving component to move from the starting position to the ending position.

[0112] Step 210: The cooking machine compares the first operating parameter with the second operating parameter to obtain a comparison result.

[0113] Step 211: When the comparison result indicates that the first operating parameter matches the second operating parameter, the cooking machine determines that the moving component has moved to the ending position.

[0114] In the embodiment of the present application, the matching of the first operating parameter and the second operating parameter may mean that the first operating parameter is equal to the second operating parameter; the magnitudes of the first operating parameter and the second operating parameter can be compared. When it is determined that the second operating parameter is equal to the first operating parameter, it indicates that the moving component has moved from the starting position to the ending position. At this time, it also indicates that the stirring component connected to the moving component and the component to be stirred are already in a fitting state, and the movement of the moving component is controlled to stop; when it is determined that the second operating parameter is less than the first operating parameter, it indicates that the moving component has not reached the ending position. At this time, the stirring component and the component to be stirred are not in a fitting state, and the movement of the moving component can be continuously controlled to continue moving as in the previous steps.

[0115] Step 212: When receiving the third instruction, the cooking machine determines the third operating parameter for the moving component to move from the starting position to the ending position.

[0116] Step 213: The cooking machine determines whether the moving component has moved to the ending position based on the first operating parameter and the third operating parameter.

[0117] In the embodiment of the present application, the first operating parameter and the third operating parameter can be compared to obtain a comparison result, and when the comparison result indicates that the first operating parameter matches the third operating parameter, it is determined that the moving component has moved to the ending position.

[0118] In an embodiment of the present application, the third instruction may refer to an instruction that commands the moving component to fall again after the second instruction; the third operating parameter may refer to the operating parameter corresponding to the moving component moving from the starting position to the ending position again, and the first operating parameter and the third operating parameter can be compared in magnitude. When it is determined that the third operating parameter is equal to the first operating parameter, it indicates that the moving component has moved from the starting position to the ending position. At this time, it also indicates that the stirring component connected to the moving component and the component to be stirred are already in a fitting state, and the movement of the moving component is controlled to stop; when it is determined that the third operating parameter is less than the first operating parameter, it indicates that the moving component has not reached the ending position. At this time, the stirring component and the component to be stirred are not in fitting, and the movement of the moving component can be continuously controlled to continue moving as in the previous steps. It should be noted that the second operating parameter may specifically be the running time of the moving component from time T0 to time T1, or the pulse signal (i.e., the feedback signal) fed back by the encoder from time T0 to time T1.

[0119] It should be noted that when the cooking machine needs to be calibrated after being used for a period of time and aging, or when the cooking machine is calibrated according to the user's own needs, the following steps can also be performed:

[0120] Step 214: When a calibration instruction is received, the cooking machine acquires the second electrical signal generated by the moving component when moving from the starting position to the ending position, and determines the fourth operating parameter of the moving component moving from the starting position to the ending position.

[0121] Step 215: When a fourth instruction is received, the cooking machine determines the fifth operating parameter of the moving component moving from the starting position to the ending position.

[0122] Step 216: The cooking machine determines whether the moving component has moved to the ending position based on the fourth operating parameter and the fifth operating parameter.

[0123] In the embodiments of the present application, after the moving component (including the stirring component) has worked for a period of time, wear and aging may occur, or based on the user's own needs, the cooking machine can be initialized (i.e., calibrated) again, that is, the operating parameters for the moving component to reach the termination position are re-determined based on the electrical signal; specifically, the second electrical signal is re-determined, and the fourth operating parameter corresponding to the movement of the moving component from the starting position to the termination position is re-determined based on the re-determined second electrical signal. After completing the re-initialization, the fourth operating parameter is stored. Then, when the moving component falls again, the fifth operating parameter when it falls again is collected, and the fourth operating parameter of the moving component moving from the starting position to the termination position can be compared with the fifth operating parameter. When the fourth operating parameter is equal to the fifth operating parameter, it is determined that the moving component has moved to the termination position. In this way, it can be ensured that the stirring component connected to the moving component is in contact with the component to be stirred each time it falls.

[0124] In other embodiments of the present application, as Figure 6 shown, 1) After the calibration starts, a calibration command for the moving component can be sent. If the moving component is not at the starting position, the moving component first runs to the starting position. During the movement of the moving component, the stirring component will be driven to run. There is a magnet on the stirring component, and the position detection unit will output a level signal when it detects the magnet. When the MCU detects the change in the level signal fed back by the position detection unit, it is determined that the starting position has been reached. The MCU records the position of the moving component at this moment as the starting position and clears other information (such as the motor running time, encoder pulse count), and then the moving component runs towards the falling position; 2) The lifting motor runs to drive the stirring component to fall and stir; 3) Through feedback (current feedback (when fully attached to the pot, the current of the lifting motor is higher than the current threshold)), it is judged whether the moving component has reached the position where it is in contact with the pot; when it is judged that the target current is higher than the current threshold, at this time the stirring component is in full contact with the component to be stirred, and the moving component stops moving; 4) Software records and stores the signal output from the feedback signal when the stirring component falls (i.e., the first operating parameter), and the calibration step is completed.

[0125] In other embodiments of the present application, as Figure 7 shown, when the command for the moving component to fall is issued again, the moving component starts running from the starting position. When the feedback signals (i.e., the second operating parameter, the third operating parameter) during the running are equal to the calibrated and stored value (i.e., the first operating parameter), it is considered to have reached the termination position, and the moving component stops running, achieving the effect that the stirring component is in contact with the component to be stirred, thus eliminating the need for manual adjustment.

[0126] It should be noted that the descriptions of the same steps and the same content in this embodiment and other embodiments can be referred to the descriptions in other embodiments, and will not be repeated here.

[0127] The position confirmation method provided by the embodiments of the present application, after receiving the first instruction, first determines the position when the stirred component is in a fitting state with the stirring component provided in the moving component based on the first electrical signal, and then determines the first operating parameter corresponding to the state where the stirred component is in a fitting state with the stirring component. Since the first operating parameter is the parameter corresponding to the fitting state of the stirred component and the stirring component that has been determined, then when the second instruction is received later, directly compare the first operating parameter corresponding to the fitting state of the stirred component and the stirring component that has been determined with the second operating parameter to determine whether the moving component moves to a position fitting with the stirred component when it falls again. In this way, the operation of manually adjusting the pot-fitting of the stirring component can be cancelled, and there is no longer a need to manually adjust the fitting of the stirring component and the stirred component, thereby not only reducing the labor cost but also improving the accuracy of adjusting the fitting of the stirring component and the stirred component.

[0128] The embodiments of the present application provide a cooking machine. Refer to Figure 8 As shown, the cooking machine 1 includes: a control unit 11, a driving unit 12, a current sampling unit 13, and a moving component 14, where:

[0129] The control unit 11 is configured to output first control information to the driving unit 12 and output second control information to the current sampling unit 13.

[0130] In the embodiments of the present application, the first control information may refer to the control information output by the control unit 11 to the driving unit 12; the second control information may refer to the control information output by the control unit 11 to the current sampling unit 13. It should be noted that a control unit (Microcontroller Unit, MCU) is provided in the cooking machine, and the first control information and the second control information may refer to Pulse Width Modulation (PWM).

[0131] In the embodiments of the present application, a user may send an instruction to the MCU through a Controller Area Network (CAN) or a Universal Asynchronous Receiver / Transmitter (UART), etc. When the MCU receives the instruction, it may output the first control information and the second control information.

[0132] The driving unit 12 is configured to receive the first control information and control the moving component 14 to move from the starting position to the ending position based on the first control information.

[0133] In an embodiment of the present application, when the moving component is a lifting motor, the moving component may include a brushed lifting motor and a brushless lifting motor, and the driving units of different types of lifting motors are different; in a feasible implementation manner, as Figure 9 shown is the circuit topology diagram of the driving unit of the brushed lifting motor. Among them, when A and C are conducted and B and D are turned off, the lifting motor rotates forward; when A and C are turned off and B and D are conducted, the lifting motor rotates in reverse; when A, B, C, and D are all turned off, the lifting motor stops.

[0134] The current sampling unit 13 is configured to receive the second control information, and based on the second control information, collect the first electrical signal generated during the movement of the moving component from the starting position to the ending position, and output the first electrical signal to the control unit 11.

[0135] The control unit 11 is further configured to determine whether the moving component has moved to the ending position based on the target threshold and the received first electrical signal, and collect the first operating parameter of the moving component from the starting position to the ending position.

[0136] The control unit 11 is further configured to, when the driving unit 12 controls the moving component to move from the starting position to the ending position based on the third control information, collect the second operating parameter of the moving component from the starting position to the ending position, and determine whether the moving component has moved to the ending position based on the first operating parameter and the second operating parameter.

[0137] In an embodiment of the present application, the third control information may refer to the control information output by the control unit 11 to the driving unit 12 again, that is, when it is necessary to control the moving component to move from the starting position to the ending position again, the control unit 11 may output the third control information to the driving unit 12. After that, after the driving unit 12 receives the third control information, it controls the moving component to move from the starting position to the ending position again, and the second operating parameter can be collected while moving, and then it is determined whether the moving component has moved to the ending position based on the first operating parameter and the second operating parameter.

[0138] In an embodiment of the present application, referring to Figure 8 shown, a storage unit may also be provided in the control unit, and the storage unit may specifically refer to the Flash cache of the MCU, or may refer to an Electrically Erasable Programmable Read-Only Memory (EEPROM), or may refer to a Secure Digital (SD) card, and of course it may also be other storage devices; EEPROM is a storage chip whose data is not lost after power-off.

[0139] The cooking machine provided by the embodiment of the present application can first determine the position when the stirred component is in a fitting state with the stirring component arranged in the moving component based on the first electrical signal, and then determine the first operating parameter corresponding to the fitting state of the stirred component and the stirring component. Since the first operating parameter is the parameter corresponding to the fitting state of the stirred component and the stirring component that has been determined, then the first operating parameter corresponding to the fitting state of the stirred component and the stirring component that has been determined can be directly compared with the second operating parameter later to determine whether the moving component moves to a position fitting with the stirred component when it falls again. In this way, the operation of manually adjusting the pot-fitting of the stirring component can be cancelled, and there is no need to manually adjust the fitting of the stirring component and the stirred component, thereby not only reducing the labor cost but also improving the accuracy of adjusting the fitting of the stirring component and the stirred component.

[0140] Based on the foregoing embodiments, the embodiment of the present application provides another cooking machine. Referring to Figure 8 as shown, the cooking machine 2 includes: a control unit 21, a driving unit 22, a current sampling unit 23, a moving component 24, and a position detection unit 25, where:

[0141] It should be noted that when controlling the falling of the moving component, it is necessary to first ensure whether the moving component is located at the starting position so that the initial position of each fall is the same. Specifically:

[0142] The position detection unit 25 is configured to output a level signal to the control unit 21 when detecting a magnetic component in the moving component.

[0143] Wherein, the level signal is used to indicate whether the moving component moves to the starting position.

[0144] The control unit 21 is configured to output a first control information to the driving unit 22 when receiving the level signal.

[0145] In the embodiment of the present application, the position detection unit 25 is a detection circuit for reference points (including the starting position and the ending position); a magnet is arranged in the stirring component included in the moving component, and the stirring component will be driven to operate during the movement of the moving component. When the position detection unit detects the magnet, it will output a level signal (changing from low level to high level or from high level to low level). When the control unit (MCU) in the cooking machine detects the change of the level signal fed back by the position detection unit, it determines that the moving component reaches the starting position. At this time, the control unit 21 can output a PWM signal to the driving unit 22.

[0146] It should be noted that when the MCU in the cooking machine 2 fails to detect the change in the level signal fed back by the position detection unit 25, it indicates that the moving component may currently be in other positions rather than the initial position. At this time, it is necessary to first control the moving component to move from other positions to the starting position, and then let it fall from the starting position.

[0147] In a feasible implementation manner, the position detection unit 25 may specifically be Figure 10 the Hall detection circuit as shown; when the Hall detection circuit outputs a signal, it is transmitted to the input / output (Input / Output, IO) port of the MCU through filtering, and the MCU determines whether the reference point position (i.e., the starting position or the ending position) is reached.

[0148] The driving unit 22 is configured to receive the first control information output by the control unit 21, and control the moving component to move from the starting position to the ending position based on the first control information.

[0149] The control unit 21 is configured to output second control information to the current sampling unit 23;

[0150] The current sampling unit 23 is configured to receive the second control information, and collect the first electrical signal generated during the movement of the moving component from the starting position to the ending position based on the second control information.

[0151] The control unit 21 is further configured to receive the target current output by the current sampling unit 23;

[0152] Wherein, the first electrical signal includes the target current;

[0153] The control unit 21 is further configured to determine whether the moving component has moved to the ending position based on the current threshold and the target current.

[0154] In the embodiment of the present application, the equivalent current waveform (i.e., the ADC waveform) of the moving component from the starting position to the ending position is as Figure 11 shown, where the moment T0 is the starting moment of the moving component (i.e., corresponding to the starting position), and the moment T1 is the moment when it is determined that the target current is higher than the current threshold. At this time, the stirring component is completely attached to the component to be stirred, and the moving component stops moving.

[0155] It should be noted that while collecting the target current generated during the movement of the moving component from the starting position to the ending position, the control unit 21 also needs to simultaneously collect the following first operating parameters, specifically:

[0156] The control unit 21 is further configured to collect the first operating parameters of the moving component from the starting position to the ending position.

[0157] It should be noted that in the case where the movement component has been collected to move from the starting position to the position where it fits with the stirred component, when the movement component falls again, the control unit 21 can collect only the second operating parameter during this fall. Specifically:

[0158] The control unit 21 is further configured to collect the second operating parameter of the movement component moving from the starting position to the ending position when the driving unit 22 controls the movement component to move from the starting position to the ending position based on the third control information, and determine whether the movement component moves to the ending position based on the first operating parameter and the second operating parameter.

[0159] The cooking machine provided by the embodiment of the present application can first determine the position when the stirred component and the stirring component disposed in the movement component are in a fitting state based on the first electrical signal, and then determine the first operating parameter corresponding to the state where the stirred component and the stirring component are in a fitting state. Since the first operating parameter is the parameter corresponding to the fitting state of the stirred component and the stirring component that has been determined, then later it can directly compare the first operating parameter corresponding to the fitting state of the stirred component and the stirring component that has been determined with the second operating parameter to determine whether the movement component moves to the position where it fits with the stirred component when it falls again. In this way, the operation of manually adjusting the pot-fitting of the stirring component can be cancelled, and it is no longer necessary to manually adjust the fitting of the stirring component and the stirred component, thereby not only reducing the labor cost, but also improving the accuracy of adjusting the fitting of the stirring component and the stirred component.

[0160] Based on the foregoing embodiment, the embodiment of the present application provides another cooking machine. Refer to Figure 12 As shown, the cooking machine 3 includes: a control unit 31, a driving unit 32, a current sampling unit 33, a movement component 34, a position detection unit 35, and a current conversion unit 36, wherein:

[0161] It should be noted that when controlling the movement component to fall, it is necessary to first ensure whether the movement component is located at the starting position so that the initial position of each fall is the same. Specifically:

[0162] The position detection unit 35 is configured to output a level signal to the control unit 31 when detecting a magnetic component in the movement component.

[0163] Wherein, the level signal is used to indicate whether the movement component moves to the starting position.

[0164] The control unit 31 is configured to output first control information to the driving unit 32 when receiving the level signal.

[0165] The driving unit 32 is configured to receive the first control information and control the movement component to move from the starting position to the ending position based on the first control information;

[0166] A control unit 31 for outputting second control information to a current sampling unit 33;

[0167] The current sampling unit 33 is configured to receive the second control information, and based on the second control information, collect a first electrical signal generated during the movement of the moving component from the starting position to the ending position, and output the first electrical signal to a current conversion unit 36;

[0168] Wherein, the first electrical signal includes a target current.

[0169] In an embodiment of the present application, since the MCU is a digital device controlled by a central processing unit (CPU), the MCU itself can only process digital signals. However, in practical applications, many sensors output analog signals. To enable the MCU to process these analog signals, an analog-to-digital converter (ADC) is required to convert the analog signals into digital signals for the MCU to process; therefore, when the target current collected by the current sampling unit 23 is an analog signal, the target current of the analog signal can be converted as follows:

[0170] The current conversion unit 36 is configured to receive the target current output by the current sampling unit 33, and based on the current sampling resistor and the target current, output a target voltage corresponding to the target current to the control unit 31.

[0171] In a feasible implementation manner, the current conversion unit 36 is specifically as Figure 13 shown, which can convert the target current of the analog signal into a target voltage of a digital signal that can be read by the MCU. It should be noted that as Figure 13 shown, the current amplification factor can be adjusted by adjusting the operational amplifier resistance value; the voltage signal converted by the R1 sampling resistor in Figure 12 is input to the ADC acquisition port of the MCU through amplification and filtering for the MCU to determine whether the circuit exceeds the voltage threshold; it should be noted that as Figure 13 the original current sampling in is an unamplified original electrical signal; the filtered current sampling is an electrical signal after hardware amplification and filtering; the overcurrent protection value is a motor running overcurrent protection circuit implemented by hardware.

[0172] The control unit 31 is further configured to receive the target voltage output by the current conversion unit 36;

[0173] The control unit 31 is further configured to determine whether the moving component has moved to the ending position based on the voltage threshold and the target voltage.

[0174] In an embodiment of the present application, the target voltage may be a voltage value set based on historical experimental data; the converted target voltage may be compared with a voltage threshold. When the target voltage is greater than or equal to the voltage threshold, it may indicate that the moving component has moved to the termination position, and at this time, the movement of the moving component may be controlled to stop.

[0175] It should be noted that while collecting the first electrical signal generated during the movement of the moving component from the starting position to the termination position, the control unit 21 also needs to simultaneously collect the following first operating parameters, specifically:

[0176] The control unit 31 is further configured to collect the first operating parameters of the moving component moving from the starting position to the termination position.

[0177] It should be noted that in the case where it has been collected that the moving component has moved from the starting position to the position where it is in contact with the stirred component, when the moving component falls again, the control unit 21 may only collect the second operating parameters during this fall, specifically:

[0178] The control unit 31 is further configured to, when the driving unit 32 controls the moving component to move from the starting position to the termination position based on the third control information, collect the second operating parameters of the moving component moving from the starting position to the termination position, and determine whether the moving component has moved to the termination position based on the first operating parameters and the second operating parameters.

[0179] The cooking machine provided by the embodiment of the present application may first determine the position when the stirred component is in contact with the stirring component provided in the moving component based on the first electrical signal, and then determine the corresponding first operating parameters when the stirred component is in contact with the stirring component. Since the first operating parameters are the parameters corresponding to the contact state between the stirred component and the stirring component that have been determined, then later, it is possible to directly compare the first operating parameters corresponding to the contact state between the stirred component and the stirring component that have been determined with the second operating parameters to determine whether the moving component has moved to the position where it is in contact with the stirred component when it falls again. In this way, the operation of manually adjusting the contact between the stirring component and the pot can be cancelled, and there is no need to manually adjust the contact between the stirring component and the stirred component, thereby not only reducing the labor cost but also improving the accuracy of adjusting the contact between the stirring component and the stirred component.

[0180] Based on the foregoing embodiments, an embodiment of the present application provides a cooking machine, which can be applied to Figure 3 and Figure 5 In the position confirmation method provided in the corresponding embodiment, as shown in Figure 14 The cooking machine 6 may include: a processor 61, a memory 62, and a communication bus 63, where:

[0181] The communication bus 63 is used to implement the communication connection between the processor 61 and the memory 62;

[0182] The processor 61 is used to execute the position confirmation program in the memory 62 to implement the following steps:

[0183] When receiving the first instruction, control the moving component to move from the starting position to the ending position, and determine the first electrical signal generated by the moving component during the movement; wherein, the ending position is the position where the stirring component is in a fitting state with the stirring component arranged in the moving component;

[0184] Based on the first electrical signal, determine whether the moving component moves to the ending position, and determine the first operating parameter of the moving component moving from the starting position to the ending position;

[0185] When receiving the second instruction, determine the second operating parameter of the moving component moving from the starting position to the ending position;

[0186] Based on the first operating parameter and the second operating parameter, determine whether the moving component moves to the ending position.

[0187] In other embodiments of the present application, the processor 61 is used to execute the position confirmation method in the position confirmation program in the memory 62 to implement the following steps:

[0188] Determine whether the moving component is at the starting position;

[0189] When the moving component is not at the starting position, control the moving component to move to the starting position.

[0190] In other embodiments of the present application, the processor 61 is used to execute the control of the moving component to move to the starting position in the position confirmation program in the memory 62 to implement the following steps:

[0191] During the movement of the moving component towards the starting position, collect the level signal corresponding to the moving component;

[0192] When the level signal meets the level threshold, determine that the current position where the moving component is located is the starting position;

[0193] Control the moving component to stop moving at the starting position.

[0194] In other embodiments of the present application, the processor 61 is used to execute the determination of whether the moving component moves to the ending position based on the first electrical signal in the position confirmation program in the memory 62 to implement the following steps:

[0195] When the target current is greater than or equal to the current threshold, determine that the moving component moves to the ending position; wherein, the first electrical signal includes the target current;

[0196] When the target current is less than the current threshold, it is determined that the moving component has not moved to the termination position;

[0197] In other embodiments of the present application, the processor 61 is configured to execute the position confirmation method in the position confirmation program in the memory 62 to implement the following steps:

[0198] Control the moving component to stop moving.

[0199] In other embodiments of the present application, the processor 61 is configured to execute the position confirmation method in the position confirmation program in the memory 62 to implement the following steps:

[0200] Control the moving component to continue moving towards the termination position until the current generated by the moving component during the movement is greater than or equal to the current threshold, and then determine that the moving component has moved to the termination position.

[0201] In other embodiments of the present application, the processor 61 is configured to execute the position confirmation method in the position confirmation program in the memory 62 based on the first operating parameter and the second operating parameter to determine whether the moving component has moved to the termination position, to implement the following steps:

[0202] Compare the first operating parameter and the second operating parameter to obtain a comparison result;

[0203] When the comparison result indicates that the first operating parameter and the second operating parameter match, determine that the moving component has moved to the termination position.

[0204] In other embodiments of the present application, the processor 61 is configured to execute the position confirmation method in the position confirmation program in the memory 62 to implement the following steps:

[0205] When receiving a third instruction, determine the third operating parameter of the moving component moving from the starting position to the termination position;

[0206] Based on the first operating parameter and the third operating parameter, determine whether the moving component has moved to the termination position.

[0207] In other embodiments of the present application, the processor 61 is configured to execute the position confirmation method in the position confirmation program in the memory 62 to implement the following steps:

[0208] When receiving a calibration instruction, obtain the second electrical signal generated by the moving component moving from the starting position to the termination position, and determine the fourth operating parameter of the moving component moving from the starting position to the termination position;

[0209] When receiving a fourth instruction, determine the fifth operating parameter of the moving component moving from the starting position to the termination position;

[0210] Based on the fourth operating parameter and the fifth operating parameter, determine whether the moving component moves to the termination position.

[0211] It should be noted that the specific description of the steps executed by the processor can refer to Figure 3 and Figure 5 the implementation process in the position confirmation method provided in the corresponding embodiment, which will not be elaborated here.

[0212] After receiving the first instruction, the cooking machine provided by the embodiment of the present application first determines the position when the stirring component is in a fitting state with the stirring component arranged in the moving component based on the first electrical signal, and then determines the first operating parameter corresponding to the fitting state of the stirring component and the stirring component. Since the first operating parameter is the parameter corresponding to the fitting state of the stirring component and the stirring component that has been determined, then when the second instruction is received later, directly compare the first operating parameter corresponding to the fitting state of the stirring component and the stirring component that has been determined with the second operating parameter to determine whether the moving component moves to the position where it fits with the stirring component when it falls again. In this way, the operation of manually adjusting the pot-fitting of the stirring component can be cancelled, and there is no need to manually adjust the fitting of the stirring component and the stirred component, thus not only reducing the labor cost, but also improving the accuracy of adjusting the fitting of the stirring component and the stirred component.

[0213] Based on the foregoing embodiments, the embodiment of the present application provides a computer-readable storage medium, which stores one or more programs, and the one or more programs can be executed by one or more processors to implement Figure 3 and Figure 5 the steps in the position confirmation method provided in the corresponding embodiment.

[0214] It should be noted that the above computer-readable storage medium may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a ferromagnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM), etc.; it may also be various electronic devices including one or any combination of the above memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc.

[0215] It should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or device. Without more limitations, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or device including that element.

[0216] The serial numbers of the above embodiments of the present application are only for description and do not represent the superiority or inferiority of the embodiments.

[0217] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disc) and includes several instructions to enable a terminal device (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in various embodiments of the present application.

[0218] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices produce a means for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0219] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including an instruction means that implements the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0220] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0221] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structural or equivalent process transformation made using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A position confirmation method for a cooking machine, the cooking machine comprising a moving component and a stirring component disposed on the moving component, characterized in that, The method includes: When a first instruction is received, controlling the moving component to move from a starting position to an ending position, and determining a first electrical signal generated by the moving component during the movement; wherein, the ending position is a position where the stirred component and the stirring component are in a fitting state; Based on the first electrical signal, determining whether the moving component has moved to the ending position, and determining a first operating parameter of the moving component moving from the starting position to the ending position; When a second instruction is received, determining a second operating parameter of the moving component moving from the starting position to the ending position; Based on the first operating parameter and the second operating parameter, determining whether the moving component has moved to the ending position.

2. The method according to claim 1, wherein Before controlling the moving component to move from the starting position to the ending position, it further includes: Determining whether the moving component is at the starting position; When the moving component is not at the starting position, controlling the moving component to move to the starting position.

3. The method according to claim 2, wherein Controlling the moving component to move to the starting position includes: During the process of the moving component moving towards the starting position, collecting a level signal corresponding to the moving component; When the level signal meets the level threshold, determining the current position where the moving component is located as the starting position; Controlling the moving component to stop moving at the starting position.

4. The method according to claim 1, wherein Based on the first electrical signal, determining whether the moving component has moved to the ending position includes: When the target current is greater than or equal to the current threshold, determining that the moving component has moved to the ending position; wherein, the first electrical signal includes the target current; When the target current is less than the current threshold, determining that the moving component has not moved to the ending position; Correspondingly, after determining that the moving component has moved to the ending position, it further includes: Controlling the moving component to stop moving.

5. The method according to claim 4, wherein After determining that the moving component has not moved to the ending position, it further includes: Controlling the moving component to continue moving towards the ending position until the current generated by the moving component during the movement is greater than or equal to the current threshold, and then determining that the moving component has moved to the ending position.

6. The method according to claim 1, wherein Based on the first operating parameter and the second operating parameter, determining whether the moving component has moved to the ending position includes: Comparing the first operating parameter and the second operating parameter to obtain a comparison result; When the comparison result indicates that the first operating parameter and the second operating parameter match, determining that the moving component has moved to the ending position.

7. The method according to claim 6, characterized in that, After determining that the moving component has moved to the ending position when the comparison result indicates that the first operating parameter and the second operating parameter match, it further includes: When a third instruction is received, determining a third operating parameter of the moving component moving from the starting position to the ending position; Based on the first operating parameter and the third operating parameter, determining whether the moving component has moved to the ending position.

8. The method according to claim 7, characterized in that, After determining whether the moving component has moved to the termination position based on the first operating parameter and the third operating parameter, the method further includes: When a calibration instruction is received, obtain a second electrical signal generated by the moving component during the movement from the starting position to the termination position, and determine a fourth operating parameter of the moving component from the starting position to the termination position; When a fourth instruction is received, determine a fifth operating parameter of the moving component from the starting position to the termination position; Based on the fourth operating parameter and the fifth operating parameter, determine whether the moving component has moved to the termination position.

9. A cooking machine, characterized in that, The cooking machine includes: a control unit, a driving unit, a current sampling unit, and a moving component, where: The control unit is configured to output first control information to the driving unit and output second control information to the current sampling unit; The driving unit is configured to receive the first control information and control the moving component to move from the starting position to the termination position based on the first control information; The current sampling unit is configured to receive the second control information, collect a first electrical signal generated during the movement of the moving component from the starting position to the termination position based on the second control information, and output the first electrical signal to the control unit; The control unit is further configured to determine whether the moving component has moved to the termination position based on a target threshold and the received first electrical signal, and collect a first operating parameter of the moving component from the starting position to the termination position; The control unit is further configured to, when the driving unit controls the moving component to move from the starting position to the termination position based on third control information, collect a second operating parameter of the moving component from the starting position to the termination position, and determine whether the moving component has moved to the termination position based on the first operating parameter and the second operating parameter.

10. The cooking machine according to claim 9, wherein, The cooking machine further includes: a position detection unit, where: The position detection unit is configured to output a level signal to the control unit when detecting a magnetic component in the moving component; the level signal is used to indicate whether the moving component has moved to the starting position; The control unit is configured to output the first control information when receiving the level signal.

11. The cooking machine according to claim 9, wherein: The control unit is further configured to receive a target current output by the current sampling unit; the first electrical signal includes the target current; The control unit is further configured to determine whether the moving component has moved to the termination position based on a current threshold and the target current.

12. The cooking machine according to claim 9, characterized in that, The cooking device further includes: a current conversion unit, where: The current sampling unit is further configured to output the target current to the current conversion unit; the first electrical signal includes the target current; The current conversion unit is configured to receive the target current output by the current sampling unit and output a target voltage corresponding to the target current to the control unit based on a current sampling resistor and the target current.

13. The cooking machine according to claim 11, wherein the control unit is further configured to receive the target voltage output by the current conversion unit; the control unit is further configured to determine whether the moving component moves to the termination position based on the voltage threshold and the target voltage.

14. A cooking machine, characterized in that, The cooking machine includes: a processor, a memory, and a communication bus; the communication bus is configured to implement a communication connection between the processor and the memory; the processor is configured to execute the position confirmation program in the memory to implement the steps of the position confirmation method according to any one of claims 1 to 8.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the position confirmation method according to any one of claims 1 to 8.

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